Modular storage system having segments that couple to one another to define closed loop tracks that move inventory

ABSTRACT

In one embodiment, an inventory storage system has a vertical stack of storage modules that extend from a first stack end to a second stack end, and are stacked on top of one another. Each storage module defines a path that forms a loop in a vertical plane, and each storage module has a plurality of inventory carriers that translate around the loop. The vertical stack has a first end section that extends from the first stack end towards the second stack end, and that includes a first end of each loop of the stack. The vertical stack also has a second end section that extends from the second stack end towards the first stack end, and that includes a second end of each loop of the stack. The sections can be transported separately by a truck or container and then coupled together at the destination.

BACKGROUND

Inventory storage facilities such as warehouses and distribution centerscommonly employ shelving units to hold inventory items until they areneeded to fulfill a customer order. The shelving units are arranged inrows that are spaced from one another so as to define aisles between therows of shelving units. To store an inventory item on a desired shelvingunit, a human can carry the inventory item down an aisle in thewarehouse to the desired shelving unit and place the inventory item onthe desired shelving unit where it is stored until it is needed. When anorder is placed, a human can travel down the aisle to the desiredshelving unit, retrieve the inventory item from the desired shelvingunit, and place the inventory item on a conveyor belt that carries theinventory item downstream for packaging and shipping. There are somesystems in which containers are oriented in rows, and the entire rowmoves up or down vertically under the control of an operator.

BRIEF DESCRIPTION OF THE DRAWINGS

The following detailed description will be better understood when readin conjunction with the appended drawings, in which there is shown inthe drawings example embodiments for the purposes of illustration. Itshould be understood, however, that the present disclosure is notlimited to the precise arrangements and instrumentalities shown. In thedrawings:

FIG. 1 shows a perspective view of a storage module according to oneembodiment;

FIG. 2 shows an enlarged perspective view of one end of the storagemodule of FIG. 1;

FIG. 3 shows an enlarged perspective view of an inside of a guiderail atthe end of FIG. 2;

FIG. 4 shows a top plan view of the storage module of FIG. 1;

FIG. 5 shows a side elevation view of the storage module of FIG. 1;

FIG. 6 shows a perspective view of a storage system comprising aplurality of the storage modules of FIG. 1;

FIG. 7 shows an exploded top plan view of a storage system according toone embodiment; and

FIG. 8 shows an exploded side elevation view of the storage system ofFIG. 7.

DETAILED DESCRIPTION

In inventory storage facilities, storage density is an importantcharacteristic. Packing inventory items closer together reduces theoverall volume that is needed to store the inventory items. Thus, asmaller building or structure can be used to store inventory items thatare packed closer together. Alternatively, in an existing storagefacility, increasing density can free up warehouse space that can beused to store additional inventory items, thereby increasing thecapacity of the storage facility. Presented herein are inventory storagemodules, and storage systems that can have a higher storage density thanthe conventional shelving units discussed above.

Referring to FIGS. 1 to 5, an inventory storage module 100 according toone embodiment is shown that is configured to store inventory items. Ingeneral, the storage module 100 has a first end 106 and a second end 108spaced from one another along a longitudinal direction L, such that thestorage module 100 is elongate along the longitudinal direction L. Thestorage module 100 comprises a first guiderail 102 and a secondguiderail 104 that are spaced from one another along a lateral directionA. The first and second guiderails 102 and 104 can be substantiallymirror images of one another. The first and second guiderails 102 and104 define first and second loops, respectively, where each loop isdefined in a plane that extends in the longitudinal direction L and avertical direction V, where the longitudinal, lateral, and verticaldirections are perpendicular to one another. Thus, the storage module100 defines a path that forms a loop 107 in a plane that extends in thelongitudinal direction L and the vertical direction V.

Each guiderail 102 and 104 has an upper track 112 and a lower track 114spaced from one another along the vertical direction V. Further, eachguiderail 102 and 104 has a first connecting track 116 that connects theupper track 112 to the lower track 114 at the first end 106, and asecond connecting track 118 that connects the upper track 112 to thelower track 114 at the second end 108. The first and second connectingtracks 116 and 118 can curve away one another as they extend from eachof the upper and lower tracks 112 and 114. For example, each of thefirst and second connecting tracks 116 and 118 can define a u-shape,where the first and second connecting tracks 116 and 118 extend awayfrom one another to the respective bottoms of their u-shapes.

The storage module 100 also has a plurality of inventory carriers 110,each supported by both the first and second guiderails 102 and 104. Eachinventory carrier 110 can be similar to a moving shelf. Each inventorycarrier 110 has a first carrier side 120 and a second carrier side 121spaced from one another along the lateral direction A. Each inventorycarrier 110 has a first carrier end 122 and a second carrier end 123spaced from one another along the longitudinal direction L. Further,each inventory carrier 110 has a carrier bottom 124 that extends betweenthe first and second carrier sides 120 and 121 and extends between thefirst and second carrier ends 122 and 123.

For each inventory carrier 110, the storage module 100 has a first wheelassembly 126 that is configured to couple the first carrier side 120 ofthe inventory carrier 110 to the first guiderail 102 such that the firstcarrier side 120 is transportable around the loop defined by the firstguiderail 102. Similarly, for each inventory carrier 110, the storagemodule 100 has a second wheel assembly 128 that is configured to couplethe second carrier side 121 of the inventory carrier 110 to the secondguiderail 104 such that the second carrier side 121 is translatablearound the loop defined by the second guiderail 104. Preferably, in ahorizontal portion of guiderails 102 and 104, the wheel assemblies 126are supported by the guiderails and roll along them.

The inventory carriers 110 are densely packed along the upper and lowertracks 112 and 114. For example, the inventory carriers 110 along theupper track 112 are arranged end-to-end such that there is little to nospace between adjacent ones of the inventory carriers 110 on the uppertrack 112. Similarly, the inventory carriers 110 along the lower track114 are arranged end-to-end such that there is little to no spacebetween adjacent ones of the inventory carriers 110 on the lower track114. In some embodiments, inventory carriers 110 along each track maycontact one another other. In other embodiments, inventory carriers 110may be spaced from each other along each track by a distance that is nomore than 10 percent of the length of each inventory carrier 110 alongthe track, such as no more than 10 percent of the length of eachinventory carrier 110 along the track or no more than 5 percent of thelength of each inventory carrier 110 along the track.

Space between inventory carriers 110 on the upper track 112 andinventory carriers 110 on the lower track 114 may optionally beminimized to maximize storage density. In some examples, spacing betweeninventory carriers 110 on the upper track 112 and inventory carriers 110on the lower track 114 may be described by absolute distance, such as adistance ranging from 0.25 to 1.25 inches, such as 0.50 to 1.00 inches.In other examples, spacing between inventory carriers 110 on the uppertrack 112 and inventory carriers 110 on the lower track 114 may bedescribed in relation to a height of one of the inventory carriers, suchas a spacing that is no more than 20 percent of the height of theinventory carrier, such as no more than 15 percent of the height of theinventory carrier, such as no more than 10 percent of the height of theinventory carrier, no more than 5 percent of the height of the inventorycarrier. Storage density is directly related to the distance betweeninventory carriers 110. Thus, as the distance from the inventorycarriers 110 on the upper track 112 to the inventory carriers 110 on thelower track 114 is decreased, the storage density increases. However, ifthe distance between the inventory carriers 110 on the upper track 112and the inventory carriers 110 on the lower track 114 is too small, thenthe inventory carriers 110 might not freely rotate between the upper andlower tracks without colliding. To prevent collisions, the horizontalspacing between inventory carriers 110 can be increased throughacceleration as each inventory carrier 110 approaches an end 106 or 108.Thus, the density of the inventory carriers 110 can be lower at thefirst and second connecting tracks 116 and 118 compared to the densityat the upper and lower tracks 112 and 114 as will be described infurther detail below.

The storage module 100 has at least one motor 130 and at least onedrivetrain 132 that drives the inventory carriers 110 to translatearound the first and second loops in response to a control signal untila desired one of the inventory carriers 110 is presented at one of thefirst end 106 and the second end 108. At such position, the desiredinventory carrier 110 can be accessed by a person or machine such as arobotic arm so that an inventory item can then be placed onto thedesired inventory carrier 110 for storage or can be removed from thedesired inventory carrier 110 to fulfill a customer order or for furthertransporting or processing. In some embodiments, the motor 130 anddrivetrain 132 can operate in a unidirectional manner such the inventorycarriers 110 can be moved in only a first direction (that is, clockwiseor counterclockwise) around the loop of the respective first guiderail102 or second guiderail 102. Alternatively, the at least one motor 130and at least one drivetrain 132 can operate in a bidirectional mannersuch the inventory carriers 110 can be selectively rotated in one of thefirst direction and a second direction, opposite the first direction.

The details of the example embodiment in FIGS. 1 to 5 will now bedescribed in further detail. It will be noted that at least one, up toall of, the guiderails 102 and 104, the inventory carriers 110, thewheel assemblies 126 and 128, the motor 130 and drivetrain 132 can beimplemented in any other suitable manner. For example, the guiderails102 and 104, the inventory carriers 110, and the wheel assemblies 126and 128 can be implemented in a manner similar to that of U.S. patentapplication Ser. Nos. 15/408,182, 15/408,128, and 15/408,207, each filedon Jan. 17, 2017, the teachings of all of which are hereby incorporatedby reference as if set forth in their entirety therein.

As shown in FIG. 3, each guiderail 102 and 104 has an outer guiderailsurface 134 that defines an outer perimeter of the respective guiderail102 or 104 and an inner guiderail surface 136 that defines an innerperimeter of the respective guiderail 102 or 104. The inner guiderailsurface 136 is spaced inward of the outer guiderail surface 134 suchthat the outer guiderail surface 134 surrounds the inner guiderailsurface 136. The outer and inner guiderail surfaces 134 and 136 can faceaway from one another. Each guiderail 102 and 104 has a guide-rail body138 that extends between the outer guiderail surface 134 and the innerguiderail surface 136. Each guide-rail body 138 can be oriented in aplane that extends along the vertical and longitudinal directions.Further, each guide-rail body 138 can define a guide-rail channel 140that extends into the guide-rail body 138 between the outer and innerguiderail surfaces 134 and 136 so as to define a closed loop that isconfigured to receive a portion of one of the wheel assemblies 126 and128 as described further below.

Referring to FIG. 2, each inventory carrier 110 can be sized to supportat least one storage container 142. In some embodiments, each inventorycarrier 110 can be elongate along the lateral direction A such that eachinventory carrier 110 is configured to carry a plurality of storagecontainers 142. For example, each inventory carrier 110 can have anoverall carrier width W_(C) along the lateral direction A, an overallcarrier length L_(C) along the longitudinal direction L, and an overallcarrier height H_(C) along the vertical direction V. The overall carrierwidth W_(C) can be greater than the overall carrier length L_(C) suchthat each inventory carrier 110 is elongate along the lateral directionA. Thus, each inventory carrier 110 can support the plurality of storagecontainers 142 such that the storage containers are in a side-by-siderelation. Supporting a plurality of storage containers 142 inside-by-side relation between the pair of guiderails 102 and 104 canresult in a higher storage density than a comparable system in whichonly one storage container 142 is supported between the pair ofguiderails 102 and 104.

Each inventory carrier 110 can have opposed carrier sidewalls 125 thatare spaced from one another along the lateral direction A. The carrierbottom 124 can extend between the carrier sidewalls 125. The carrierbottom 124 can support the storage containers 142 between the carriersidewalls 125. In some embodiments, each inventory carrier 110 candefine a shelf that supports a plurality of storage containers 142.

Each storage container 142 can be any suitable storage containerconfigured to be supported by a carrier bottom 123 of an inventorycarrier 110 and to hold items. For example, each storage container 142can be a rectangular structure, such as a bin, formed from a rigidmaterial such as high-density plastic, wood, aluminum, or other suitablematerial. Each storage container can have a pair of opposed sidewalls144 that are spaced from one another along the lateral direction A. Eachstorage container can have a pair of opposed end walls 146 that arespaced from one another along the longitudinal direction L. Each storagecontainer 142 can further an upper end 148 and a bottom surface 150spaced from one another along the vertical direction V. The bottomsurface 150 can extend between the opposed sidewalls 144 and between theopposed end walls 146. The upper end 148 can be open for ease of accessin placing inventory items into, and retrieving inventory items from,the storage container 142. Each storage container 142 can have anoverall width W_(S) along the lateral direction A, an overall heightH_(S) along the vertical direction V, and an overall length L_(S) alongthe longitudinal direction L. In some embodiments, the overall widthW_(S) can be greater than the overall length L_(S) and overall heightH_(S). When a plurality of storage containers 142 are supported by aninventory carrier 110 in a side-by-side relation, each storage container142 can have at least one sidewall 144 that faces a sidewall 144 of anadjacent storage container 142.

Referring to FIG. 3, each wheel assembly 126 and 128 includes an outerwheel 152, an inner wheel 154, and a rotating coupler 158 that couplesthe outer and inner wheels 152 and 154 to one of the container end walls146 of a respective one of the inventory containers 110. The outer wheel152 can be offset from the inner wheel 154 with respect to an outwarddirection. The rotating coupler 158 supports the outer wheel 152 suchthat the outer wheel 152 translates along the outer guiderail surface134 of a respective one of the guiderails 102 and 104. Similarly, therotating coupler 158 supports the inner wheel 154 such that the innerwheel 154 translates along the inner guiderail surface 136 of therespective one of the guiderails 102 and 104. The rotating coupler 158rotates with respect to the respective inventory carrier 110 as theinventory carrier 110 transitions from an upper track 112 to a lowertrack 114 (as can be seen in FIG. 2). As the rotating coupler 158rotates, the outer wheel 152 remains in contact with the outer guiderailsurface 134 of a respective one of the guiderails 102 and 104, and theinner wheel 154 remains in contact with the inner guiderail surface 136of the respective one of the guiderails 102 and 104. Further, as therotating coupler 158 rotates, the respective inventory carrier 110remains upright without rotating. Thus, as each inventory carrier 110transitions from an upper track 112 to a lower track 114, the upper end148 of each storage container 142 that is supported by the inventorycarrier 110 remains disposed above the bottom surface 150 of the storagecontainer 142 to prevent the contents of the storage container 142 fromspilling.

Each wheel assembly 126 and 128 can optionally include a third wheel156, and the rotating coupler 158 can couple the third wheel 156 to therespective container end wall 146. The third wheel 156 can be an outerwheel that translates along the respective outer guiderail surface 134.Further, the third wheel 156 can be offset from the inner wheel 154 withrespect to an outward direction, and can be offset from the outer wheel152 with respect to a direction that is perpendicular to the outwarddirection. Thus, the outer wheel 152, the third wheel 156, and the innerwheel 154 can be spaced from one another such that the inner wheel 154forms the bottom of a y-shape, and the outer wheel 152 and third wheel156 form the top of a y-shape. Each wheel assembly 126 and 128 canfurther include a y-shaped bracket 127 that supports the outer wheel152, the third wheel 156, and the inner wheel 154. In some alternativeembodiments, the third wheel 156 can be an inner wheel that translatesalong the respective inner guiderail surface 136. In other alternativeembodiments, each wheel assembly 126 and 128 can include as few as a onewheel that is guided within a guiderail between inner and outer surfacesof the guiderail, or can have any suitable number of wheels greater thanone.

Each wheel assembly 126 and 128 can include a guide 160 that is receivedin the guide-rail channel 140, and translates around the guide-railchannel 140. Each guide 160 maintains its respective inventory carrier110 in an upright position so as to limit occurrences of the inventorycarrier 110 from tipping over. Each guide 160 can be rotationally fixedrelative to its inventory carrier 110. Further, each wheel assembly 126or 128 can be configured to rotate relative to its respective guide 160.Thus, as each wheel assembly 126 or 128 of an inventory carrier 110rotates to maintain its wheels in contact with the outer and innerguiderail surfaces 134 and 136, the respective guide 160 remainsrotationally fixed relative to the inventory carrier 110 to maintain theinventory carrier 110 fixed in the upright position.

Referring again to FIGS. 1 to 5, the inventory carriers 110 along theupper and lower tracks 112 and 114 can be densely packed. For example,each inventory carrier 110 on the upper track 112 can be spaced from aninventory carrier on the lower track 114 by a distance that provides aclearance between the inventory containers as described above. Thestorage module 100 can be elongate along the longitudinal direction L.For instance, the storage module 100 have an overall module length L_(M)along the longitudinal direction L, an overall module height H_(M) alongthe vertical direction V, and an overall module width W_(M) along thelateral direction A. The overall module length L_(M) can be greater thanthe overall module height H_(M) and the overall module width W_(M).Further, in some embodiments, the overall module width W_(M) can begreater than the overall module height H_(M).

As described above, the storage module 100 has at least one motor 130and at least one drivetrain 132 that drives the inventory carriers 110to translate around the first and second guiderails 102 and 104. Forexample, the storage module 100 can have a motor 130 that drives adrivetrain 132 that is adjacent to the first guiderail 102 at the firstend 106. As another example, the storage module 100 can have a motor 130that drives a drivetrain 132 that is adjacent the first guiderail 102 atthe second end 108. As yet another example, the storage module 100 canhave a motor 130 that drives a drivetrain 132 that is adjacent thesecond guiderail 104 at the first end 106. As yet still another example,the storage module 100 can have a motor 130 that drives a drivetrain 132that is adjacent the second guiderail 104 at the second end 108.

In an alternative embodiment, the storage module 100 can have a motorthat drives both the drivetrains 132 at the first end 106, and thestorage module 100 can have a motor that drives both the drivetrains 132at the second end 108. For example, the drivetrains 132 adjacent thefirst and second guiderails 102 and 104 at the first end 106 can share acommon axle that is driven by one motor 130, and the drivetrains 132adjacent the first and second guiderails 102 and 104 at the second end108 can share a common axle that is driven by one motor 130. In anotheralternative embodiment, the storage module 100 can have a first motor130 and drivetrain 132 that drives an entirety of the first guiderail102 and a second motor 130 and drivetrain 132 that drives an entirety ofthe second guiderail 104. For example, each drivetrain 132 can extendalong the length of a respective one of the first and second guiderails102 and 104. In yet another alternative embodiment, the storage module100 can have one motor 130 and a pair of drivetrains 132 that drive anentirety of both the first and second guiderails 102 and 104. Forexample, the pair of drivetrains 132 can share a common axle that isdriven by one motor 130, and each drivetrain 132 can extend along thelength of a respective one of the first and second guiderails 102 and104.

The at least one motor 130 and at least one drivetrain 132 can beconfigured to drive the inventory carriers 110 to translate along theupper and lower tracks 112 and 114 at a first speed. Further, the atleast one motor 130 and drivetrain 132 can be configured to drive theinventory carriers 110 to translate along one of the first and secondconnecting tracks 116 and 118 at a second speed, faster than the firstspeed, when each inventory carrier 110 transitions between the uppertrack 112 and the lower track 114. As such, when a transitioninginventory carrier 110 translates along one of the first and secondconnecting tracks 116 and 118, the transitioning inventory carrier 110accelerates away from a following inventory carrier 110, which istranslating at the first speed, to increase spacing between thetransitioning inventory carrier 110 and the subsequent inventory carrier110. Further, the transitioning inventory carrier 110 acceleratestowards a preceding inventory carrier 110, which is translating at thefirst speed, so as to catch up to the preceding inventory carrier 110.Thus, the density of the inventory carriers 110 can be smaller at thefirst and second connecting tracks 116 and 118 than that of the upperand lower tracks 112 and 114 so as to provide sufficient space aroundthe first and second connecting tracks 116 and 118 for eachtransitioning inventory carrier 110 to separate from a subsequentinventory carrier 110. Accelerating each transitioning inventory carrier110 in such a manner can prevent the transitioning inventory carrier 110from colliding with the following and preceding inventory carriers 110as the transitioning inventory carrier 110 translates along one of thefirst and second connecting tracks 116 and 118.

Each drivetrain 132 comprises a lower-speed pulley or gear system 166and a higher-speed pulley or gear system 168. The lower-speed system 166is configured to drive the inventory carriers 110 along a respective oneof the upper and lower tracks 112 and 114 at the first speed and to arespective one of the connecting tracks 116 and 118. Further, thelower-speed system 166 is configured to drive the inventory carriers 110away from the respective one of the connecting tracks 116 and 118 at thefirst speed and along the other one of the upper and lower tracks 112and 114. In this regard, the low-speed system pushes a carrier 110,which pushes all the containers 10 in front of it. The higher-speedsystem 168 is configured to drive the inventory carriers 110 along arespective one of the connecting tracks 116 and 118 to the other one ofthe upper and lower tracks 112 and 114 at the second speed, which isfaster than the first speed as stated above. Thus, the higher-speedsystem 168 is configured to drive each inventory carrier 110 to separatefrom the slower moving inventory carriers 110 on the respective one ofthe upper and lower tracks 112 and 114 and to catch up to the slowermoving inventory carriers 110 on the other one of the upper and lowertracks 112 and 114.

Each higher-speed system 168 is disposed at a respective one of thefirst and second connecting tracks 116 or 118. For example, eachhigher-speed system 168 can extend from one of the first and second ends106 and 108 towards the other of the first and second ends 106 and 108.Each higher-speed system 168 can include a pulley or gear systemconfigured to engage each inventory carrier 110 as it approaches arespective one of the first and second connecting tracks 116 or 118 anddrive the inventory carrier 110 from the respective upper track 112 tothe respective lower track 114. For example, each higher-speed system168 can include a first pulley or gear 170 proximate to one of the firstand second ends 106 and 108, and a second pulley or gear 172 that isspaced from the first pulley or gear 170 along the longitudinaldirection L towards the other one of the first and second ends 106 and108. The higher-speed system 168 can further include a chain or belt 174that loops around the first and second pulleys or gears 170 and 172. Aseach inventory carrier 110 approaches the higher-speed system 168, thechain or belt 174 engages the inner wheel 154 of the inventory carrier110 such that the chain or belt 174 and the inner wheel 154 aretranslationally fixed to one another. Thus, translation of the chain orbelt 174 around the first pulley or gear 170 and the second pulley orgear 172 causes the inner wheel 154, and consequently the inventorycarrier 110, to translate with the chain or belt 174.

Each lower-speed system 166 can extend from a respective one of thehigher-speed systems 168 at one of the first and second ends 106 and 108towards the other one of the first and second ends 106 and 108. In someexamples, each lower-speed system 166 extends only part of the waytowards the other one of the first and second ends 106 and 108 such thatthe lower-speed system 166 is configured to drive only one or a few ofthe inventory carriers 110 at a time. The inventory carriers 110 drivenby the lower-speed portion 166 then push the preceding inventorycarriers 110 towards the other of the first and second ends 106 and 108.In some embodiments, the lower-speed portion 166 can terminate before amidpoint of respective guiderail 102 or 104 along the longitudinaldirection L. In alternative embodiments, each guiderail 102 and 104 canhave a single lower-speed portion 166 that extends from a higher-speedportion 168 at its first end 106 to the higher-speed portion 168 at itssecond end 108 such that all inventory carriers 110 between thehigher-speed portions 168 are driven by the lower-speed portion 166.

Each lower-speed system 166 can include a pulley or gear systemconfigured to engage inventory carriers 110 at the ends of a respectiveupper track 112 and a respective lower track 114. For example, eachlower-speed system 166 can include a first pulley or gear 180 proximateto a respective higher-speed system 168 at one of the first and secondends 106 and 108, and a second pulley or gear 182 that is spaced fromthe first pulley or gear 180 along the longitudinal direction L towardsthe other one of the first and second ends 106 and 108. The lower-speedsystem 166 can further include a lower-speed chain or belt 184 thatloops around the first and second pulleys or gears 180 and 182. As eachinventory carrier 110 approaches the lower-speed system 166, thelower-speed chain or belt 184 engages the inner wheel 154 of theinventory carrier 110 such that the lower-speed chain or belt 184 andthe inner wheel 154 are translationally fixed to one another. Thus,translation of the lower-speed chain or belt 184 around the first pulleyor gear 180 and the second pulley or gear 182 causes the inner wheel154, and consequently the inventory carrier 110, to translate with thelower-speed chain or belt 184.

Each drivetrain 132 can include a speed changing system 186. The speedchanging system 186 can be coupled to both the lower-speed system 166and the higher-speed system 168. The speed changing system 186 can bedriven by one of the higher-speed system 168 and the lower-speed system166 at one speed, and can resultantly drive the other one of thehigher-speed system 168 and the lower-speed system 166 at another speed.In one embodiment, and as shown, the speed changing system 186 can be aspeed reduction system that is driven by the higher-speed system 168 atthe second speed, and that drives the lower-speed system 166 at thefirst speed, lower than the second speed. In alternative embodiments,the speed changing system 186 can be a speed increasing system that isdriven by the lower-speed system 166 at the first speed, and that drivesthe higher-speed system 168 at the second speed, faster than the firstspeed.

The speed changing system 186 can include a smaller pulley or gear 188and a larger pulley or gear 190. The smaller pulley or gear 188 can havea diameter that is smaller than the larger pulley or gear 190. Thesmaller pulley or gear 188 can be coaxial with, and rotationally fixedwith respect to, the second pulley or gear 172 of the higher-speedsystem 168 such that the smaller pulley or gear 188 rotates at the samerate as the second pulley or gear 172. Further, the larger pulley orgear 190 can be coaxial with, and rotationally fixed with respect to,the first pulley or gear 180 of the lower-speed system 166 such that thefirst pulley or gear 180 rotates at the same rate as the larger pulleyor gear 190.

The smaller pulley or gear 188 can be coupled to the larger pulley orgear 190 such that one of the smaller pulley or gear 188 and the largerpulley or gear 190 drives the other one of the smaller pulley or gear188 and the larger pulley or gear 190. The speed changing system 186 canbe configured such that the smaller pulley or gear 188 completes morethan one full rotation for each full rotation of the larger pulley orgear 190. The speed changing system 186 can include a driving chain orbelt 192 that loops around both the smaller pulley or gear 188 and thelarger pulley or gear 190. In an alternative embodiment (not shown), anouter surface or teeth of the smaller pulley or gear 188 can engage anouter surface or teeth of the larger pulley or gear 190.

In one embodiment (as shown), rotation of the second pulley or gear 172of the higher-speed system 168 can cause the smaller pulley or gear 188to correspondingly rotate at the second speed. Further, rotation of thesmaller pulley or gear 188 can cause the larger pulley or gear 190 torotate at the first speed, thereby causing the first pulley or gear 180of the lower-speed system 166 to correspondingly rotate at the firstspeed. In an alternative embodiment (not shown), rotation of the firstpulley or gear 180 of the lower-speed system 166 cause the larger pulleyor gear 190 to correspondingly rotate at the first speed. Further,rotation of the larger pulley or gear 190 can cause the smaller pulleyor gear 188 to rotate at the second speed, thereby causing the secondpulley or gear 172 of the higher-speed system 168 to correspondinglyrotate at the second speed. In yet another alternative embodiment (notshown), each guiderail 102 and 104 can have a single motor 130 and asingle drivetrain 130 or both guiderails 102 and 104 can be driven bythe same motor 130. For example, the lower-speed system 166 can extendfrom the higher-speed system 168 at the first end 106 to thehigher-speed system 168 at the second end 108. Thus, the higher-speedsystem 168 at the first end 106 can drive the lower-speed system 166,which can in turn drive the higher-speed system 168 at the second end108.

As described above, each drivetrain 132 can be driven by at least onemotor 130. The at least one motor 130 can drive one of the lower-speedsystem 166 and the higher-speed system 168, which can in turn drive theother one of the lower-speed system 166 and the higher-speed system 168.For example, in one embodiment (as shown), the at least one motor 130can drive the higher-speed system 168, which can in turn drive thelower-speed system 166. In an alternative embodiment (as shown), the atleast one motor 130 can drive the lower-speed system 166, which can inturn drive the higher-speed system 168. Further, in another alternativeembodiment (not shown), each of the lower-speed system 166 and thehigher-speed system 168 can be driven individually by its own motor 130,in which case the speed changing system 186 can be eliminated.

Each motor 130 can be uni-directional so as to drive the inventorycarriers 110 in a first direction around the loop of the respectiveguiderail 102 or 104, or can be bidirectional so as to selectively drivethe inventory carriers 110 in the first direction or a second direction,opposite the first direction. Each motor 130 can act indirectly on itsrespective higher-speed system 168 or lower-speed system 166. Forexample, as shown, each motor 130 can be outwardly spaced from itsrespective guiderail 102 or 104 and can be coupled to the higher-speedsystem 168 by a drive chain or belt. In some embodiments, the motor 130can be spaced from its respective guiderail 102 or 104 with respect tothe longitudinal direction L. Outwardly spacing the motor 130 from itsrespective guiderail 102 or 104 can enable the motor 130 to beaccessible for repair, replacement, or general maintenance. The motor130 can act indirectly on one of the first pulley or gear 170 and thesecond pulley or gear 172. For example, each drivetrain 132 can includea driving pulley or gear 176 and a driving chain or belt 178 that loopsaround the driving pulley or gear 176 and a rotating axle 131 of themotor 130. The driving pulley or gear 176 can be coaxial with, androtationally fixed with respect to, the first pulley or gear 170 asshown. Thus, rotation of the motor axle 131 by the motor 130 causes thedrive chain or belt to rotate, which causes the driving pulley or gear176 to rotate, which in turn causes the first pulley or gear 170 torotate.

In an alternative embodiment (not shown), the driving pulley or gear 176can be coaxial with, and rotationally fixed with respect to, the secondpulley or gear 172. Thus, rotation of the motor axle 131 by the motor130 can cause the drive chain or belt to rotate, which can cause thedriving pulley or gear 176 to rotate, which in turn can cause the secondpulley or gear 172 to rotate. In yet another alternative embodiment (notshown), the motor 130 can act directly on one of the first pulley orgear 170 and the second pulley or gear 172. For example, the motor 130and drivetrain 132 can be configured such that the axle of the one ofthe first pulley or gear 170 and the second pulley or gear 172 is therotational axle 131 of the motor 130. Thus, rotation of the motor axle131 can directly rotate the one of the first pulley or gear 170 and thesecond pulley or gear 172 without a driving chain or belt connectedbetween the motor 130 and the one of the first pulley or gear 170 andthe second pulley or gear 172. In yet still another alternativeembodiment (not shown), the motor 130 can act indirectly on one of thefirst pulley or gear 180 and the second pulley or gear 182 of thelower-speed system 166 in a manner similar to that described above withrespect to the higher-speed system 168.

The storage module 100 can include at least one controller 194configured to provide a control signal to the at least one motor 130 soas to control the operation of the at least one motor 130. In someembodiments, the controller 194 can control the speed in which the axle131 is rotated. Further, in some embodiments, the controller 194 cancontrol the direction in which the axle 131 is rotated, and hence thedirection in which the inventory carriers 110 are translated. Yetfurther, in some embodiments, the controller 194 can stop the at leastone motor 130 when a desired one of the inventory carriers 110 ispresented at one of the first end 106 and the second end 108.

Turning now to FIG. 6, a modular storage and retrieval system 200 isshown that comprises a plurality of instances of the storage module 100of FIG. 1. The system 200 includes a first vertical stack 202 of thestorage modules 100 that comprises a plurality (e.g., 4) of the storagemodules 100 stacked on top of one another along the vertical directionV. The system 200 can further include a second vertical stack 204 of thestorage modules 100 that comprises a plurality (e.g., 4) of the storagemodules 100 stacked on top of one another along the vertical directionV. The second vertical stack 204 can be offset from the first verticalstack 202 along the lateral direction A. The storage system 200 can yetfurther include a third vertical stack 206 of the storage modules 100that comprises a plurality (e.g., 4) of the storage modules 100 stackedon top of one another along the vertical direction V. The third verticalstack 206 can be offset from the second vertical stack 204 along thelateral direction A such that the second vertical stack 204 is betweenthe first and third vertical stacks 202 and 206. Each storage module 100of the system 200 can be independently operated such that the inventorycarriers 110 of each storage module 100 can be driven around theircorresponding loop independently of the inventory carriers 110 of otherstorage module 100 being driven around their corresponding loop.Although three vertical stacks 202, 204, and 206, each having fourstorage modules 100 are shown, it will be understood that the number ofvertical stacks and storage modules 100 in each vertical stack can varyfrom that shown. In particular, modular storage and retrieval systems ofthe disclosure can include at least one vertical stack of storagemodules 100 or more than one vertical stack of storage modules 100.Further, each vertical stack of storage modules 100 can have at leasttwo storage modules 100 stacked on top of one another or more than twostorage modules 100. Thus, height, width, and length of the system 200can be scalable to fit within a desired volume in a warehouse space.

The modular storage and retrieval storage system 200 can includesupports 208 that are coupled to the storage modules 100 in eachvertical stack 202, 204, and 206 so as to maintain the storage modules100 in a stacked relation. The supports 208 can further be coupled tothe storage modules 100 so as to attach the vertical stacks 202, 204,and 206 of storage modules 100 to one another. The supports 208 cancombine to form a frame 210 of the system 200. The system 200 canfurther include a platform 212 that extends across the top of thevertical stacks 202, 204, and 206 of storage modules 100. The platform212 can be coupled to the supports 208. Further, the platform 212 can beused for maintenance and inspection of the modular storage and retrievalsystem 200.

The modular storage and retrieval system 200 can also include at leastone robotic manipulator 214. For example, the system 200 can include atleast one robotic manipulator 214 that services the first end 106 ofeach vertical stack of storage modules 100 as shown. The system 200 canalso include at least one robotic manipulator 214 that services thesecond end 108 of each vertical stack of storage modules 100 as shown.In some embodiments, the manipulators 214 at the first end 106 can beused to stow inventory items in the storage modules 100, and themanipulators 214 at the second end 108 can be used to retrieve inventoryitems from the storage modules 100. Alternative embodiments can includeat least manipulator 214 on only one end 106 of a vertical stack, the atleast one manipulator 214 configured to perform both stowing andretrieving operations. Additionally or alternatively, one or more of therobotic manipulators 214 can service multiple vertical stacks of storagemodules 100. Although not shown, in some embodiments, the at least onerobotic manipulator 214 can be configured to move vertically and/orhorizontally to service the storage modules 100 of the system 200. Forexample, a robotic manipulator 214 can be mounted on a horizontal and/orvertical track to enable it to move with respect to the vertical stacks.

Each robotic manipulator 214 can be any suitable material handling robot(e.g., Cartesian robot, cylindrical robot, spherical robot, articulatedrobot, parallel robot, SCARA robot, anthropomorphic robot, any othersuitable robotic manipulator and/or robotic arm, automated guidedvehicles including lift capabilities, vertical lift modules, and anyother suitable material handling equipment that interacts with orotherwise handles objects). Each robotic manipulator 214 cam include anysuitable type and number of sensors disposed throughout the roboticmanipulator 214 (e.g., sensors in the base, in the arm, in joints in thearm, in an end effector, or in any other suitable location). The sensorscan include sensors configured to detect pressure, force, weight, light,objects, slippage, and any other information that may be used to controland/or monitor the operation of the robotic manipulator 214, includingan end effector. The sensors can be in communication with a controller216. The controller 216 can be local to the robotic manipulator 214(e.g., a robotic manipulator controller) or can be separate from, but incommunication with, the robotic manipulator 214. In this manner, thecontroller 216 can control the operation of the robotic manipulator 214and the end effector based at least in part on sensing informationreceived from the sensors. The sensors may include any suitablecombination of sensors capable of detecting depth of objects, capturingRGB and other images of objects, scanning machine-readable information,capturing thermal images, detecting position and orientation of objects,and performing any other suitable sensing as described herein.

Other material conveyance devices (not shown) may also be disposedadjacent to the robotic manipulators 214. The other material conveyancedevices can be any suitable material conveyance system including, forexample, a horizontal conveyor belt system, a pneumatic conveyor system,a vibrating conveyor system, a flexible conveyor system, a verticalconveyor system, a spiral conveyor system, an overhead conveyor system,and/or any other suitable material conveyance system suitable forconveying items. The other material conveyance devices can be used totransport inventory items and/or storage containers to and from therobotic manipulators 214.

Turning now to FIGS. 7 and 8, a modular storage and retrieval system 300is shown according to one embodiment that is configured to betransported by truck or intermodal storage container and assembled upondelivery. The system 300 can be implemented as described above inrelations to FIGS. 1-6. Further, the system 300 can be divided into atleast a first end section 306 and a second end section 308, each ofwhich can be transported individually in a truck or intermodal shippingcontainer. In some embodiments, the system 300 can also include at leastone intermediate section 320 that can be transported individually in atruck or intermodal shipping container. For example, in one embodiment,each section 306, 308, and 320 can have a length of 50 feet, for anoverall system length of 150 feet. The number of intermediate sections320 can be dependent upon the overall length of the system 300. Forexample, longer systems 300 can have more intermediate sections 320 thansmaller systems 300. Thus, the length of system 300 can be scalable byadding further intermediate sections 320.

The storage system 300 comprises at least one vertical stack 310 of thestorage modules 100. In some embodiments, the system 300 can comprise aplurality of vertical stacks 310. The height of system 300 can bescalable by adding additional instances of the vertical stack 310 on topof one another. Additionally, the width of system 300 can be scalable byadding additional instances of the vertical stack 310 next to oneanother in a manner similar to that shown in FIG. 6. Each instance ofthe vertical stack 310 can have first and second end sections similar tofirst and second end sections 306 and 308, and can optionally includeone or more intermediate sections 320. The sections (e.g., 306, 308, and320) of each instance of the vertical stack 310 can be transportedseparately to a destination, and then assembled together at thedestination. Assembling the system 300 in this manner can reduce startuptime for the system 300 as compared to transporting and assembling eachcomponent of each storage module 100 individually.

The vertical stack 310 has a first stack end 302 and a second stack end304 that are spaced from one another along the longitudinal direction L.The storage modules 100 are stacked on top of one another along thevertical direction V. Each storage module 100 defines a path that formsa loop 107 in a plane that extends in the longitudinal direction L andvertical direction V, and each storage module 100 has a plurality ofinventory carriers 110 that translate around the loop 107 as discussedabove.

The first end section 306 extends from the first stack end 302 towardsthe second stack end 304, and terminates before the second stack end304, such that the first end section 306 includes a first end of eachloop 107 of the vertical stack 310. Similarly, the second end section308 extends from the second stack end 304 towards the first stack end302, and terminates before the first stack end 302, such that the secondend section 308 includes a second end of each loop 107 of the verticalstack 310. At least one, such as both, of the first and second endsections 306 and 308 includes a drivetrain 132 configured to driveinventory carriers 110 around the loop 107. Each drivetrain 132 can beconfigured as discussed above.

The first and second end sections 306 and 308 are coupleable to oneanother. In some embodiments, the first and second end sections 306 and308 are removeably coupleable to one another, meaning that the sections306 and 308 can be separated from one another without damaging thesections. For example, the first end section 304 can include the firstconnecting track 116 of each storage module 100, a first upper tracksection 312 of each upper track 112 that extends from the firstconnecting track 116, and a first lower track section 314 of each lowertrack 114 that extends from the first connecting track 116. The secondend section 308 can include the second connecting track 118 of eachstorage module 100, a second upper track section 316 of each upper track112 that extends from the second connecting track 118, and a secondlower track section 318 of each lower track that 114 that extends fromthe second connecting track 118.

The first and second end sections 306 and 308 are coupleable to oneanother such that each first upper track section 312 is coupled to acorresponding one of the second upper track sections 316 and each firstlower track section 314 is coupled to a corresponding one of the secondlower track sections 318. The first and second end sections 306 and 306are individually sized to be transported in a truck or intermodalstorage container. For example, each end section.

The intermediate section 320 extends between the first and second endsections 306 and 308. The intermediate section 320 includes anintermediate portion of each loop 107. In some embodiments, theintermediate section 320 can be devoid of a drivetrain that drives theinventory carriers 110 as shown. The intermediate section 320 includesan intermediate upper track section 322 of each upper track 112 and anintermediate lower track section of 324 each lower track 114. Theintermediate section 320 is coupleable to both the first and second endsections 306 and 308 such that each intermediate upper track section 322couples corresponding first and second upper track sections 312 and 316to one another and each intermediate lower track section 324 couplescorresponding first and second lower track 314 and 318 sections to oneanother. Thus, a first end of the intermediate section 320 is coupleableto the first end section 306 and a second end of the intermediatesection 320 is coupleable to the second end section 308 so as to couplethe first end section 306 to the second end section 308. In someembodiments, the first and second end sections 306 and 308 areremoveably coupleable to one another such that the sections 306, 308,and 320 can be separated from one another without damaging the sections.

The storage system 300 comprises a plurality of couplers 326 and 328configured to couple the first and second end sections 306 and 308 toone another. For example, the first upper and lower track sections 312and 314 can each include a coupler 326 configured to couple to a coupler328 of a corresponding intermediate upper or intermediate lower tracksection 322 or 324. Similarly, the second upper and lower track sections316 and 318 can each include a coupler 326 configured to couple to acoupler 328 of a corresponding intermediate upper or intermediate lowertrack section 322 or 324.

In operation, the first end section 306 of the vertical stack 310 ofstorage modules 100 can be transported and received by truck orintermodal storage container. The second end section 308 of the verticalstack 310 can be separately received by truck or intermodal storagecontainer. The intermediate section or sections 320 (if present) canalso be separately received by truck or intermodal storage container.Once received, the first and second end sections 306 and 308 can becoupled to one another so as to assemble the vertical stack 310. Forexample, the first and second end sections 306 and 308 can be coupled toone another via one or more intermediate sections 320 or can be directlycoupled to one another without an intermediate section 320 therebetween.

It should be noted that the illustrations and descriptions of theembodiments shown in the figures are for exemplary purposes only, andshould not be construed limiting the disclosure. One skilled in the artwill appreciate that the present disclosure contemplates variousembodiments. Additionally, it should be understood that the conceptsdescribed above with the above-described embodiments may be employedalone or in combination with any of the other embodiments describedabove. It should further be appreciated that the various alternativeembodiments described above with respect to one illustrated embodimentcan apply to all embodiments as described herein, unless otherwiseindicated.

Unless explicitly stated otherwise, each numerical value and rangeshould be interpreted as being approximate as if the word “about” or“approximately” preceded the value or range.

It should be understood that the steps of exemplary methods set forthherein are not necessarily required to be performed in the orderdescribed, and the order of the steps of such methods should beunderstood to be merely exemplary. Likewise, additional steps may beincluded in such methods, and certain steps may be omitted or combined,in methods consistent with various embodiments.

Although the elements in the following method claims, if any, arerecited in a particular sequence with corresponding labeling, unless theclaim recitations otherwise imply a particular sequence for implementingsome or all of those elements, those elements are not necessarilyintended to be limited to being implemented in that particular sequence.

What is claimed:
 1. A storage system configured to store inventoryitems, the storage system comprising: a vertical stack of storagemodules having a first stack end and a second stack end that are spacedfrom one another along a longitudinal direction, the storage modulesbeing stacked on top of one another along a vertical direction, eachstorage module having a pair of guiderails spaced from one another alonga lateral direction, each guiderail having an upper track, a lowertrack, and first and second connecting tracks that connect the upper andlower tracks to one another at the first and second stack ends,respectively, and each storage module having a plurality of inventorycarriers that translate around a respective pair of the guiderails, thevertical stack having: a first end section that extends from the firststack end towards the second stack end, the first end section includingthe first connecting track of each storage module, a first upper tracksection of each upper track that extends from the first connectingtrack, and a first lower track section of each lower track that extendsfrom the first connecting track; and a second end section that extendsfrom the second stack end towards the first stack end, the second endsection including the second connecting track of each storage module, asecond upper track section of each upper track that extends from thesecond connecting track, and a second lower track section of each lowertrack that extends from the second connecting track, wherein the firstand second end sections are coupleable to one another such that eachfirst upper track section is coupled to a corresponding one of thesecond upper track sections and each first lower track section iscoupled to a corresponding one of the second lower track sections, andwherein the first and second end sections are individually sized to betransported in a truck or intermodal storage container.
 2. The storagesystem of claim 1, comprising an intermediate section that extendsbetween the first and second stack ends, the intermediate sectionincluding an intermediate upper track section of each upper track and anintermediate lower track section of each lower track, wherein theintermediate section is coupleable to both the first and second endsections such that each intermediate upper track section couplescorresponding first and second upper track sections to one another andeach intermediate lower track section couples corresponding first andsecond lower track sections to one another.
 3. The storage system ofclaim 1, comprising a plurality of couplers configured to couple thefirst and second end sections to one another.
 4. An inventory storagesystem, comprising: a vertical stack of storage modules having a firststack end and a second stack end that are spaced from one another alonga longitudinal direction, the storage modules being stacked on top ofone another along a vertical direction, each storage module defining apath that forms a loop in a plane that extends in the longitudinal andvertical directions, and each storage module having a plurality ofinventory carriers that translate around the loop, the vertical stackhaving: a first end section that extends from the first stack endtowards the second stack end, and terminates before the second stackend, such that the first end section includes a first end of each loopof the vertical stack; and a second end section that extends from thesecond stack end towards the first stack end, and terminates before thefirst stack end, such that the second end section includes a second endof each loop of the vertical stack, wherein the first and second endsections are coupleable to one another.
 5. The inventory storage systemof claim 4, comprising an intermediate section that includes anintermediate portion of each loop, wherein a first end of theintermediate section is coupleable to the first end section and a secondend of the intermediate section is coupleable to the second end sectionso as to couple the first end section to the second end section.
 6. Theinventory storage system of claim 5, wherein the intermediate section isdevoid of a drivetrain that drives the inventory carriers.
 7. Theinventory storage system of claim 6, wherein the first and second endsof each loop includes a first drivetrain configured to drive inventorycarriers around the loop.
 8. The inventory storage system of claim 4,comprising a plurality of couplers configured to couple the first andsecond end sections to one another.
 9. The inventory storage system ofclaim 4, wherein each loop is elongate along the longitudinal direction.10. The inventory storage system of claim 4, wherein each storage modulehas a pair of guiderails spaced from one another along a lateraldirection, each guiderail having an upper track, a lower track, andfirst and second connecting tracks that connect the upper and lowertracks to one another at the first and second stack ends, respectively.11. The inventory storage system of claim 10, wherein each storagemodule comprises at least one drivetrain configured to drive inventorycarriers to translate along a respective one of the upper tracks and arespective one of the lower tracks at a first speed, and configured todrive the inventory carriers to translate along respective ones of thefirst and second connecting tracks at a second speed, faster than thefirst speed, when the inventory carriers transition between therespective upper and lower tracks.
 12. The inventory storage system ofclaim 11, wherein each drivetrain comprises a lower-speed pulley or gearsystem configured to drive the inventory carriers along respective onesof the upper and lower tracks at the first speed, and comprises ahigher-speed pulley or gear system configured to drive the inventorycarriers along at least a respective one of the first and secondconnecting tracks at the second speed.
 13. The inventory storage systemof claim 10, wherein: the first end section includes the firstconnecting track of each storage module, a first upper track section ofeach upper track that extends from the first connecting track, and afirst lower track section of each lower track that extends from thefirst connecting track; and the second end section includes the secondconnecting track of each storage module, a second upper track section ofeach upper track that extends from the second connecting track, and asecond lower track section of each lower track that extends from thesecond connecting track, wherein the first and second end sections arecoupleable to one another such that each first upper track section iscoupled to a corresponding one of the second upper track sections andeach first lower track section is coupled to a corresponding one of thesecond lower track sections.
 14. The inventory storage system of claim4, wherein each of the first and second end sections are individuallysized to be transported in a truck or intermodal storage container. 15.The inventory storage system of claim 4, wherein each inventory carrieris elongate along the lateral direction such that each inventory carrieris configured to carry a plurality of storage containers that arearranged side-by-side along the lateral direction.
 16. The inventorystorage system of claim 15, comprising a plurality of storagecontainers, each supported by an inventory carrier such that at leastone of the inventory carriers supports a plurality of the storagecontainers arranged side-by-side along the lateral direction.
 17. Theinventory storage system of claim 4, wherein each storage module has apair of guiderails spaced from one another along a lateral direction andeach storage module comprises at least one motor spaced outwardly fromthe pair of guiderails along the longitudinal direction, the motorsconfigured to drive the inventory carriers around the loops.